ABB IRB 930 Product Manual page 172

5 Repair
5.4.1 Replacing the base
Continued
Spare part
Plug G1/4
Seal bolt
Cooling cover
Air connector
Required tools and equipment
Equipment
Standard toolkit
Calibration toolbox, Axis Calibra-
tion
Sonic tension meter
Handheld dynamometer
Required consumables
Consumable
Cable straps
Grease
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
1
Continues on next page
172
Action
Decide which calibration routine to use for
calibrating the robot.
• Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
• Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
© Copyright 2023 ABB. All rights reserved.
Article number Note
3HAC071966-001
3HAC032050-001
3HAC084066-001 Used in airway.
3HAC032049-001 Used in Airway cover.
Article number Note
- Content is defined in section
Standard toolkit on page
3HAC074119-001 Delivered as a set of calibration
tools.
Required if Axis Calibration is the
valid calibration method for the
robot.
- Used for measuring the timing
belt tension.
- Used for measuring the timing
belt tension.
Article number Note
-
3HAC029132-001 FM 222
Note
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in
routine on page
596.
Reference calibration
565.
Product manual - IRB 930
3HAC086009-001 Revision: A